Cable Driven Robot to Simulate Low Gravity and Its Applications in Underwater Humanoid Robots

• Alejandro Rodríguez ^[1] ; Roque Saltarén ^[1] ; Rafael Aracil ^[1] ; Miguel Ángel Pérez ^[1] ; Cecilia García ^[1]
  1. [1] UPM-CSIC
• Localización: Actas de las XXXVII Jornadas de Automática: Madrid. 7, 8 y 9 de septiembre de 2016, 2016, ISBN 978-84-9749-808-1, págs. 43-48
• Idioma: inglés
• Enlaces
  • Texto completo
• Resumen

  • This paper addresses the main results obtained during the design and analysis of a cable-driven robot able to simulate the dynamic conditions existing in underwater environment. This work includes the kinematic and dynamic modeling as well as the analysis of the tension of the cables along different trajectories. The low-gravity simulator application is novel in the context of cable-driven robots and it is aimed to be implemented in an underwater humanoid robot. Therefore, this work can be seen as a test case of the complementary research contributions of the group of Robotics and Intelligent Machines at CAR in the recent years.